def updateGeometryFromProperties(self): filename = self.getProperty('Filename') scale = self.getProperty('Scale') if not filename: polyData = vtk.vtkPolyData() else: polyData = self.getMeshManager().get(filename) if not polyData: if not os.path.isabs(filename): filename = os.path.join(director.getDRCBaseDir(), filename) if os.path.isfile(filename): polyData = ioUtils.readPolyData(filename) if not scale == [1, 1, 1]: transform = vtk.vtkTransform() transform.Scale(scale) transformFilter = vtk.vtkTransformPolyDataFilter() transformFilter.SetInput(polyData) transformFilter.SetTransform(transform) transformFilter.Update() polyData = transformFilter.GetOutput() else: # use axes as a placeholder mesh d = DebugData() d.addFrame(vtk.vtkTransform(), scale=0.1, tubeRadius=0.005) polyData = d.getPolyData() self.setPolyData(polyData)
def updateGeometryFromProperties(self): filename = self.getProperty('Filename') scale = self.getProperty('Scale') if not filename: polyData = vtk.vtkPolyData() else: polyData = self.getMeshManager().get(filename) if not polyData: if not os.path.isabs(filename): filename = os.path.join(director.getDRCBaseDir(), filename) if os.path.isfile(filename): polyData = ioUtils.readPolyData(filename) if not scale == [1, 1, 1]: transform = vtk.vtkTransform() transform.Scale(scale) polyData = filterUtils.transformPolyData( polyData, transform) else: # use axes as a placeholder mesh d = DebugData() d.addFrame(vtk.vtkTransform(), scale=0.1, tubeRadius=0.005) polyData = d.getPolyData() self.setPolyData(polyData)
def debugDrawFootPoints(model): pts_left, pts_right = FootstepsDriver.getContactPts() d = DebugData() for linkName in [_leftFootLink, _rightFootLink]: t = model.getLinkFrame(linkName) d.addFrame(t, scale=0.2) if (linkName is _leftFootLink): pts = pts_left else: pts = pts_right footMidPoint = np.mean(pts, axis=0) for p in pts.tolist() + [footMidPoint.tolist()]: t.TransformPoint(p, p) d.addSphere(p, radius=0.015) midpt = FootstepsDriver.getFeetMidPoint(model) d.addFrame(midpt, scale=0.2) vis.showPolyData(d.getPolyData(), 'foot points debug', parent='debug', colorByName='RGB255')
def updateGeometryFromProperties(self): filename = self.getProperty('Filename') if not filename: polyData = vtk.vtkPolyData() else: polyData = self.getMeshManager().get(filename) if not polyData: if not os.path.isabs(filename): filename = os.path.join(director.getDRCBaseDir(), filename) if os.path.isfile(filename): polyData = ioUtils.readPolyData(filename) else: # use axes as a placeholder mesh d = DebugData() d.addFrame(vtk.vtkTransform(), scale=0.1, tubeRadius=0.005) polyData = d.getPolyData() self.setPolyData(polyData)
def createTriad(params): d = DebugData() d.addFrame(vtk.vtkTransform(), scale=params.get("scale", 1.0), tubeRadius=0.002 if params.get("tube", False) else 0.0) return [d.getPolyData()]
d.addPolygon([[0,0,0], [0.8, 0, 0], [1, 0.6, 0], [0.4, 1, 0], [-0.2, 0.6, 0]]) show(d, (2, 0, 0)) d = DebugData() d.addPolyLine(getHelixPoints(), radius=0.01) show(d, (4, 0, 0)) d = DebugData() d.addSphere([0, 0, 0], radius=0.3) show(d, (6, 0, 0)) d = DebugData() d.addFrame(vtk.vtkTransform(), scale=0.5, tubeRadius=0.03) show(d, (0, 2, 0)) d = DebugData() d.addArrow((0, 0, 0), (0, 1, 0)) show(d, (2, 2, 0)) d = DebugData() d.addEllipsoid((0, 0, 0), radii=(0.5, 0.35, 0.2)) show(d, (4, 2, 0)) d = DebugData() d.addTorus(radius=0.5, thickness=0.2)